CN114564824B - Disturbance suppression effect detection method and device for magnetic suspension bearing system - Google Patents
Disturbance suppression effect detection method and device for magnetic suspension bearing system Download PDFInfo
- Publication number
- CN114564824B CN114564824B CN202210155891.2A CN202210155891A CN114564824B CN 114564824 B CN114564824 B CN 114564824B CN 202210155891 A CN202210155891 A CN 202210155891A CN 114564824 B CN114564824 B CN 114564824B
- Authority
- CN
- China
- Prior art keywords
- disturbance
- current
- freedom
- degrees
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001629 suppression Effects 0.000 title claims abstract description 36
- 239000000725 suspension Substances 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 title claims abstract description 9
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 37
- 230000003068 static effect Effects 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000012795 verification Methods 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 7
- 238000013178 mathematical model Methods 0.000 claims description 7
- 238000005339 levitation Methods 0.000 claims 2
- 238000004088 simulation Methods 0.000 abstract description 5
- 230000000737 periodic effect Effects 0.000 description 3
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 2
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 1
- 101000827703 Homo sapiens Polyphosphoinositide phosphatase Proteins 0.000 description 1
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 1
- 102100023591 Polyphosphoinositide phosphatase Human genes 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
Description
技术领域Technical Field
本发明属于磁悬浮轴承控制技术领域，更具体地，涉及一种磁悬浮轴承系统的扰动抑制效果检测方法及装置。The present invention belongs to the technical field of magnetic suspension bearing control, and more specifically, relates to a disturbance suppression effect detection method and device for a magnetic suspension bearing system.
背景技术Background technique
磁悬浮轴承通过可控的电磁力实现转子的无接触支撑，使得旋转机械的转子在运行过程中无摩擦，无碰撞，不需润滑装置，是高速旋转机械的优质支撑部件。Magnetic bearings achieve contactless support of the rotor through controllable electromagnetic force, making the rotor of the rotating machinery frictionless, collision-free, and requiring no lubrication device during operation. They are high-quality support components for high-speed rotating machinery.
然而，磁悬浮轴承通常会出现不同的扰动。例如，在旋转机械中，转子不平衡所带来的偏心位移经过传感器、位置控制器、功率放大器的调理与放大，会在线圈中产生以转速频为主的电流振动，电流振动产生的电磁力传递到基座，会引起基座振动，此类振动称之为同频振动，其只有在磁轴承旋转时才会产生。除此以外，以压缩机为代表的流体机械在特定的工况下会表现出喘振现象，该现象的特征是流经压缩机的气流会出现周期性低频率、大振幅的波动，导致转子位移也会出现周期性低频大幅值的波动，此时如不及时制止或停车，机组将面临毁坏的风险。而对于应用磁悬浮轴承的压缩机，由于其刚度远远小于机械轴承且磁悬浮压缩机运行转速远高于传统压缩机，所以喘振现象对磁悬浮压缩机造成的危害会更大。However, magnetic bearings usually experience different disturbances. For example, in rotating machinery, the eccentric displacement caused by rotor imbalance is conditioned and amplified by sensors, position controllers, and power amplifiers, which will generate current vibrations with the rotational frequency as the main frequency in the coil. The electromagnetic force generated by the current vibration is transmitted to the base, which will cause the base to vibrate. This type of vibration is called co-frequency vibration, which only occurs when the magnetic bearing rotates. In addition, fluid machinery represented by compressors will exhibit surge under certain working conditions. The characteristic of this phenomenon is that the air flow passing through the compressor will have periodic low-frequency and large-amplitude fluctuations, resulting in periodic low-frequency and large-amplitude fluctuations in the rotor displacement. If it is not stopped or stopped in time, the unit will face the risk of damage. For compressors using magnetic bearings, since their stiffness is much smaller than that of mechanical bearings and the operating speed of magnetic compressors is much higher than that of traditional compressors, the surge phenomenon will cause greater harm to magnetic compressors.
当前，如何利用磁轴承对转子位置主动控制的特性去抑制同频扰动和喘振扰动已经受到广泛学者的关注与研究，也针对此提出了许多扰动抑制算法。但在真实的系统中，高速下的喘振现象本身就是一个极不稳定的工况，一旦此时投入的扰动抑制算法出错，可能会加剧系统的崩溃，所以直接在真实喘振工况下验证扰动抑制算法的风险是极大的。At present, how to use the characteristics of active control of rotor position by magnetic bearings to suppress co-frequency disturbances and surge disturbances has attracted extensive attention and research from scholars, and many disturbance suppression algorithms have been proposed. However, in real systems, the surge phenomenon at high speed is itself an extremely unstable working condition. Once the disturbance suppression algorithm used at this time goes wrong, it may aggravate the collapse of the system. Therefore, the risk of directly verifying the disturbance suppression algorithm under real surge conditions is extremely high.
发明内容Summary of the invention
针对现有技术的以上缺陷或改进需求，本发明提供了一种磁悬浮轴承系统的扰动抑制效果检测方法及装置，其目的在于降低验证扰动抑制算法时的实验风险。In view of the above defects or improvement needs of the prior art, the present invention provides a method and device for detecting the disturbance suppression effect of a magnetic bearing system, which aims to reduce the experimental risk when verifying the disturbance suppression algorithm.
为实现上述目的，按照本发明的一个方面，提供了一种磁悬浮轴承系统的扰动抑制效果检测方法，包括：To achieve the above object, according to one aspect of the present invention, a method for detecting the disturbance suppression effect of a magnetic bearing system is provided, comprising:
当磁悬浮轴承高速旋转出现扰动时采集转子的扰动力，基于扰动力计算产生相同扰动的谐波电流；When the magnetic bearing rotates at high speed and a disturbance occurs, the disturbance force of the rotor is collected, and the harmonic current that generates the same disturbance is calculated based on the disturbance force;
当磁悬浮轴承处于静态悬浮条件且无扰动时，将谐波电流叠加至线圈原始电流以模拟扰动；When the magnetic bearing is in static suspension condition and without disturbance, the harmonic current is superimposed on the original coil current to simulate the disturbance;
将位置控制器中加入扰动控制算法，验证所述控制算法对扰动的抑制效果。A disturbance control algorithm is added to the position controller to verify the disturbance suppression effect of the control algorithm.
在其中一个实施例中，基于扰动力计算产生相同扰动的谐波电流，包括：通过以下公式计算谐波电流：In one embodiment, calculating the harmonic current that generates the same disturbance based on the disturbance force includes: calculating the harmonic current by the following formula:
其中，ixh为x自由度叠加的谐波电流，iyh为y自由度叠加的谐波电流，Fxd为转子x自由度的扰动力，Fyd为转子y自由度的扰动力，ki为磁轴承力/电流系数。Among them, i xh is the harmonic current superimposed on the x degree of freedom, i yh is the harmonic current superimposed on the y degree of freedom, F xd is the disturbance force of the rotor x degree of freedom, F yd is the disturbance force of the rotor y degree of freedom, and ki is the magnetic bearing force/current coefficient.
在其中一个实施例中，将谐波电流叠加至线圈原始电流以模拟扰动，包括：将谐波电流与位置控制器的电流输出指令叠加后得到电流参考指令，电流参考指令经功率放大器放大后得到线圈电流，计算公式为：In one embodiment, the harmonic current is superimposed on the original coil current to simulate the disturbance, including: superimposing the harmonic current with the current output instruction of the position controller to obtain a current reference instruction, and the current reference instruction is amplified by a power amplifier to obtain the coil current, and the calculation formula is:
其中，ixa和ixc为x自由度的一对电流参考指令，iya和iyc为y自由度的一对电流参考指令，ix为位置控制器在x自由度的电流输出指令，iy为位置控制器在y自由度的电流输出指令，i0为每个线圈的偏置电流。Among them, i xa and ixc are a pair of current reference instructions for the x degree of freedom, i ya and i yc are a pair of current reference instructions for the y degree of freedom, i x is the current output instruction of the position controller in the x degree of freedom, i y is the current output instruction of the position controller in the y degree of freedom, and i 0 is the bias current of each coil.
在其中一个实施例中，磁悬浮轴承出现的扰动为同频扰动或喘振扰动。In one of the embodiments, the disturbance occurring in the magnetic bearing is a co-frequency disturbance or a surge disturbance.
在其中一个实施例中，还包括：In one embodiment, it also includes:
根据扰动力分析扰动特征，其中，扰动的低频分量为喘振扰动，高频分量为同频扰动。The disturbance characteristics are analyzed according to the disturbance force, among which the low-frequency component of the disturbance is the surge disturbance and the high-frequency component is the same-frequency disturbance.
按照本发明的另一方面，提供了一种磁悬浮轴承系统的扰动抑制效果检测装置，包括：According to another aspect of the present invention, a disturbance suppression effect detection device for a magnetic bearing system is provided, comprising:
扰动采集模块，用于当磁悬浮轴承高速转动出现扰动时采集转子的扰动力；The disturbance collection module is used to collect the disturbance force of the rotor when the magnetic bearing rotates at high speed and a disturbance occurs;
谐波电流计算模块，用于基于扰动力计算产生相同扰动的谐波电流；A harmonic current calculation module, used for calculating harmonic currents that generate the same disturbance based on disturbance force;
叠加模块，用于当磁悬浮轴承处于静态悬浮条件且无扰动时将谐波电流叠加至线圈原始电流以模拟扰动；A superposition module, used for superimposing harmonic current onto the original current of the coil to simulate disturbance when the magnetic bearing is in a static suspension condition and without disturbance;
验证模块，用于将位置控制器中加入扰动控制算法并验证所述控制算法对扰动的抑制效果。The verification module is used to add a disturbance control algorithm to the position controller and verify the control algorithm's effect of suppressing disturbances.
在其中一个实施例中，谐波电流计算模块的数学模型为：In one embodiment, the mathematical model of the harmonic current calculation module is:
其中，ixh为x自由度叠加的谐波电流，iyh为y自由度叠加的谐波电流，Fxd为转子x自由度的扰动力，Fyd为转子y自由度的扰动力，ki为磁轴承力/电流系数。Among them, i xh is the harmonic current superimposed on the x degree of freedom, i yh is the harmonic current superimposed on the y degree of freedom, F xd is the disturbance force of the rotor x degree of freedom, F yd is the disturbance force of the rotor y degree of freedom, and ki is the magnetic bearing force/current coefficient.
在其中一个实施例中，所述磁悬浮轴承系统包括位置控制器和功率放大器，所述叠加模块位于所述位置控制器和所述功率放大器之间，所述位置控制器输出电流输出指令，所述叠加模块用于将谐波电流与电流输出指令叠加后得到电流参考指令，所述功率放大器用于将电流参考指令放大后得到线圈电流。In one embodiment, the magnetic bearing system includes a position controller and a power amplifier, the superposition module is located between the position controller and the power amplifier, the position controller outputs a current output instruction, the superposition module is used to superimpose the harmonic current with the current output instruction to obtain a current reference instruction, and the power amplifier is used to amplify the current reference instruction to obtain the coil current.
在其中一个实施例中，所述叠加模块的数学模型为：In one embodiment, the mathematical model of the superposition module is:
其中，ixa和ixc为x自由度的一对电流参考指令，iya和iyc为y自由度的一对电流参考指令，ix为位置控制器在x自由度的电流输出指令，iy为位置控制器在y自由度的电流输出指令，i0为每个线圈的偏置电流。Among them, i xa and ixc are a pair of current reference instructions for the x degree of freedom, i ya and i yc are a pair of current reference instructions for the y degree of freedom, i x is the current output instruction of the position controller in the x degree of freedom, i y is the current output instruction of the position controller in the y degree of freedom, and i 0 is the bias current of each coil.
在其中一个实施例中，扰动采集模块包括位移传感器采集模块、或电流传感器模块、或力传感器模块。In one embodiment, the disturbance acquisition module includes a displacement sensor acquisition module, or a current sensor module, or a force sensor module.
总体而言，本申请实施例提供的磁悬浮轴承系统的扰动抑制效果检测方法及装置，在磁轴承发生扰动时记录其转子所受到的扰动力，用该扰动力计算得到所需注入的谐波电流。然后在磁轴承静态悬浮的基础上通过在其自身线圈中注入该谐波电流去模拟真实扰动，进而可以施加先进的扰动抑制算法去抑制上述模拟出的扰动以使得转子位置满足控制要求。由于整个模拟扰动的过程与扰动抑制算法的验证是在磁轴承静态悬浮条件下完成的，降低了高转速下扰动抑制算法失效所带来的实验风险。In general, the disturbance suppression effect detection method and device of the magnetic bearing system provided in the embodiment of the present application records the disturbance force exerted on the rotor when the magnetic bearing is disturbed, and uses the disturbance force to calculate the harmonic current required to be injected. Then, on the basis of the static suspension of the magnetic bearing, the real disturbance is simulated by injecting the harmonic current into its own coil, and then an advanced disturbance suppression algorithm can be applied to suppress the simulated disturbance so that the rotor position meets the control requirements. Since the entire disturbance simulation process and the verification of the disturbance suppression algorithm are completed under the condition of static suspension of the magnetic bearing, the experimental risk caused by the failure of the disturbance suppression algorithm at high speed is reduced.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本申请一实施例中磁悬浮轴承系统的结构框图；FIG1 is a structural block diagram of a magnetic bearing system in one embodiment of the present application;
图2是本申请一实施例中扰动抑制效果检测装置的结构框图；FIG2 is a structural block diagram of a disturbance suppression effect detection device in an embodiment of the present application;
图3是本申请一实施例中磁悬浮轴承系统的扰动抑制效果检测方法的步骤流程图；FIG3 is a flowchart of a method for detecting a disturbance suppression effect of a magnetic bearing system in an embodiment of the present application;
图4是本申请一实施例中磁悬浮轴承系统的扰动抑制效果的仿真结果。FIG. 4 is a simulation result of the disturbance suppression effect of the magnetic bearing system in one embodiment of the present application.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
为了便于理解，先介绍传统磁悬浮轴承系统的组要部分。如图1所示，磁悬浮轴承系统一般包括位置控制器、功率放大器、磁悬浮轴承本体以及位置传感器。磁悬浮轴承本体包括定子、转子以及设置于定子上的磁轴承线圈，其基本的工作流程为：位置传感器采集磁悬浮轴承转子的位置信息并转化为电信号，与位置指令相减后将位置误差信号送入位置控制器中；位置控制器经算法计算后得到电流参考指令；理想的功率放大器可等效成一个线性放大环节，其将该电流参考指令转化成流经磁轴承线圈具有真实功率的实际电流，该电流进而产生相应的电磁力将磁轴承转子悬浮在与位置指令相同的位置。For ease of understanding, the main components of the traditional magnetic bearing system are first introduced. As shown in Figure 1, the magnetic bearing system generally includes a position controller, a power amplifier, a magnetic bearing body, and a position sensor. The magnetic bearing body includes a stator, a rotor, and a magnetic bearing coil arranged on the stator. Its basic working process is as follows: the position sensor collects the position information of the magnetic bearing rotor and converts it into an electrical signal, and sends the position error signal to the position controller after subtracting it from the position command; the position controller obtains the current reference command after algorithm calculation; the ideal power amplifier can be equivalent to a linear amplification link, which converts the current reference command into an actual current with real power flowing through the magnetic bearing coil, and the current then generates a corresponding electromagnetic force to suspend the magnetic bearing rotor at the same position as the position command.
在真实工业应用中，例如应用在压缩机中的磁悬浮轴承，其转速可达到几万转，由于转子质量不平衡，导致高速运行时会产生离心力，该扰动力可被称之为同频扰动力；而且在高速运行时，流经压缩机的气流在特殊工况区域会出现周期性低频率的波动，这所带来的扰动力可称之为喘振扰动力。两者可统称为磁悬浮轴承在高速运行时所受到的真实扰动力。In real industrial applications, for example, the speed of magnetic bearings used in compressors can reach tens of thousands of revolutions. Due to the imbalance of the rotor mass, centrifugal force will be generated during high-speed operation. This disturbance force can be called the same-frequency disturbance force. In addition, during high-speed operation, the airflow flowing through the compressor will experience periodic low-frequency fluctuations in special operating conditions. The disturbance force caused by this can be called surge disturbance force. The two can be collectively referred to as the real disturbance force that magnetic bearings are subjected to during high-speed operation.
由于真实扰动力只在转子高速运行时才会出现，但在真实的系统中，高速转动本身就是一个极不稳定的工况，一旦验证所投入的扰动抑制算法出错，可能会加剧系统的崩溃。因此，本申请提出一种在磁轴承静态悬浮的基础上去模拟真实扰动的装置，如图2所示，该装置包括扰动采集模块、谐波电流计算模块、叠加模块和验证模块。Since the real disturbance force only appears when the rotor runs at high speed, but in the real system, high-speed rotation itself is an extremely unstable working condition. Once the disturbance suppression algorithm used for verification is wrong, it may aggravate the collapse of the system. Therefore, the present application proposes a device to simulate real disturbances based on static suspension of magnetic bearings, as shown in Figure 2, the device includes a disturbance acquisition module, a harmonic current calculation module, a superposition module and a verification module.
具体的，扰动采集模块用于当磁悬浮轴承高速转动出现扰动时采集转子的扰动力。在一具体的实施例中，可以在转子的x、y方向至少安装一个力传感器直接采集扰动力信息，也可以在定子上的每一个线圈均安装一个电流传感器采集电流信息，在转子的x、y方向至少安装一个位移传感器采集转子位移信息，并根据电流信息与位移信息推算出与转子位移对应的扰动力。Specifically, the disturbance acquisition module is used to collect the disturbance force of the rotor when the magnetic bearing rotates at high speed and a disturbance occurs. In a specific embodiment, at least one force sensor can be installed in the x and y directions of the rotor to directly collect the disturbance force information, or a current sensor can be installed in each coil on the stator to collect current information, and at least one displacement sensor can be installed in the x and y directions of the rotor to collect rotor displacement information, and the disturbance force corresponding to the rotor displacement can be calculated based on the current information and the displacement information.
具体的，谐波电流计算模块用于基于扰动采集模块所采集到的扰动力计算产生相同扰动的谐波电流。通常，当轴承出现扰动时，该扰动将造成控制器所提供的线圈电流中具有谐波分量，在出现谐波时，常规做法是对谐波进行抑制。本发明人经研究发现，直接引入谐波，可以在轴承处于静止状态时模拟扰动。因此，在本申请中，则是在轴承静止悬浮时引入谐波电流，而非抑制谐波电流，以模拟转子高速旋转时所出现的扰动。Specifically, the harmonic current calculation module is used to calculate the harmonic current with the same disturbance based on the disturbance force collected by the disturbance collection module. Usually, when a disturbance occurs in the bearing, the disturbance will cause the coil current provided by the controller to have a harmonic component. When harmonics occur, the conventional practice is to suppress the harmonics. The inventors have found through research that by directly introducing harmonics, disturbances can be simulated when the bearing is in a stationary state. Therefore, in the present application, harmonic currents are introduced when the bearing is stationary and suspended, rather than suppressing harmonic currents, to simulate the disturbances that occur when the rotor rotates at high speed.
在一具体的实施例中，在静态下利用谐波电流模拟动态下的真实扰动的数学模型为：In a specific embodiment, the mathematical model for simulating the real disturbance in dynamic state by using harmonic current in static state is:
其中，Fxd为转子x自由度的扰动力，Fyd为转子y自由度的扰动力，ixh为x自由度叠加的谐波电流，iyh为y自由度叠加的谐波电流，ki为磁轴承力/电流系数，ki与系统组件有关，当系统组件确定时，该值即确定。Among them, Fxd is the disturbance force of the rotor x degree of freedom, Fyd is the disturbance force of the rotor y degree of freedom, ixh is the harmonic current superimposed on the x degree of freedom, iyh is the harmonic current superimposed on the y degree of freedom, ki is the magnetic bearing force/current coefficient, ki is related to the system components, and when the system components are determined, the value is determined.
具体的，叠加模块用于当磁悬浮轴承处于静态悬浮条件且无扰动时将谐波电流叠加至线圈原始电流以模拟扰动。在一具体的实施例中，如图2所示，叠加模块位于位置控制器和功率放大器之间，其中，位置控制器输出电流输出指令，叠加模块用于将谐波电流与电流输出指令叠加后得到电流参考指令，功率放大器用于将电流参考指令放大后得到模拟扰动的线圈电流。该叠加模块的数学模型为：Specifically, the superposition module is used to superimpose the harmonic current on the original coil current to simulate the disturbance when the magnetic bearing is in a static suspension condition and there is no disturbance. In a specific embodiment, as shown in FIG2 , the superposition module is located between the position controller and the power amplifier, wherein the position controller outputs a current output instruction, the superposition module is used to superimpose the harmonic current with the current output instruction to obtain a current reference instruction, and the power amplifier is used to amplify the current reference instruction to obtain the coil current simulating the disturbance. The mathematical model of the superposition module is:
其中，ixa和ixc为x自由度的一对电流参考指令，iya和iyc为y自由度的一对电流参考指令，ix为位置控制器在x自由度的电流输出指令，iy为位置控制器在y自由度的电流输出指令，i0为每个线圈的偏置电流。Among them, i xa and ixc are a pair of current reference instructions for the x degree of freedom, i ya and i yc are a pair of current reference instructions for the y degree of freedom, i x is the current output instruction of the position controller in the x degree of freedom, i y is the current output instruction of the position controller in the y degree of freedom, and i 0 is the bias current of each coil.
具体的，验证模块用于将原始位置控制器中加入扰动控制算法并验证所述控制算法对扰动的抑制效果。在一具体的实施例中，验证模块具有切换功能，当叠加谐波电流后，验证模块将原始的PID控制算法切换至优化后的自抗扰(ADRC)控制算法，并验证扰动抑制效果，分析转子位置是否满足控制要求，若是，则说明该扰动控制算法可行，若不是，则说明该扰动控制算法不可行。Specifically, the verification module is used to add a disturbance control algorithm to the original position controller and verify the control algorithm's suppression effect on disturbances. In a specific embodiment, the verification module has a switching function. When the harmonic current is superimposed, the verification module switches the original PID control algorithm to the optimized ADRC control algorithm, verifies the disturbance suppression effect, and analyzes whether the rotor position meets the control requirements. If so, it means that the disturbance control algorithm is feasible, and if not, it means that the disturbance control algorithm is not feasible.
相应的，本申请还涉及一种磁悬浮轴承系统的扰动抑制效果检测方法，如图3所示，该方法包括：Accordingly, the present application also relates to a method for detecting the disturbance suppression effect of a magnetic bearing system, as shown in FIG3 , the method comprising:
步骤S100：当磁悬浮轴承高速旋转出现扰动时采集转子的扰动力，基于扰动力计算产生相同扰动的谐波电流。Step S100: When the magnetic bearing rotates at high speed and a disturbance occurs, the disturbance force of the rotor is collected, and the harmonic current generating the same disturbance is calculated based on the disturbance force.
在一具体的实施例中，可以在转子的x、y方向至少安装一个力传感器直接采集扰动力信息，也可以在定子上的每一个线圈均安装一个电流传感器采集电流信息，在转子的x、y方向至少安装一个位移传感器采集转子位移信息，并根据电流信息与位移信息推算出与转子位移对应的扰动力。In a specific embodiment, at least one force sensor can be installed in the x and y directions of the rotor to directly collect the disturbance force information, or a current sensor can be installed on each coil on the stator to collect current information, and at least one displacement sensor can be installed in the x and y directions of the rotor to collect rotor displacement information, and the disturbance force corresponding to the rotor displacement can be calculated based on the current information and the displacement information.
在一实施例中，在采集到扰动信息后，可以分析其频率、幅值等信息，以此来判断扰动特征，其中扰动的低频分量为喘振扰动，高频分量为同频扰动。In one embodiment, after the disturbance information is collected, its frequency, amplitude and other information may be analyzed to determine the disturbance characteristics, wherein the low-frequency component of the disturbance is the surge disturbance, and the high-frequency component is the same-frequency disturbance.
在一具体的实施例中，在静态下利用谐波电流模拟动态下的真实扰动的数学模型为：In a specific embodiment, the mathematical model for simulating the real disturbance in dynamic state by using harmonic current in static state is:
其中，Fxd为转子x自由度的扰动力，Fyd为转子y自由度的扰动力，ixh为x自由度叠加的谐波电流，iyh为y自由度叠加的谐波电流，ki为磁轴承力/电流系数，ki与系统组件有关，当系统组件确定时，该值即确定。Among them, Fxd is the disturbance force of the rotor x degree of freedom, Fyd is the disturbance force of the rotor y degree of freedom, ixh is the harmonic current superimposed on the x degree of freedom, iyh is the harmonic current superimposed on the y degree of freedom, ki is the magnetic bearing force/current coefficient, ki is related to the system components, and when the system components are determined, the value is determined.
步骤S200：当磁悬浮轴承处于静态悬浮条件且无扰动时，将谐波电流叠加至线圈原始电流以模拟扰动。Step S200: When the magnetic bearing is in a static suspension condition and there is no disturbance, the harmonic current is superimposed on the original current of the coil to simulate the disturbance.
其中，线圈原始电流即是无扰动时的线圈电流。Among them, the original coil current is the coil current when there is no disturbance.
在一具体的实施例中，将谐波电流叠加至线圈原始电流以模拟扰动，包括：将谐波电流与位置控制器的电流输出指令叠加后得到电流参考指令，电流参考指令经功率放大器放大后得到线圈电流，计算公式为：In a specific embodiment, the harmonic current is superimposed on the original coil current to simulate the disturbance, including: superimposing the harmonic current with the current output instruction of the position controller to obtain a current reference instruction, and the current reference instruction is amplified by the power amplifier to obtain the coil current, and the calculation formula is:
其中，ixa和ixc为x自由度的一对电流参考指令，iya和iyc为y自由度的一对电流参考指令，ix为位置控制器在x自由度的电流输出指令，iy为位置控制器在y自由度的电流输出指令，i0为每个线圈的偏置电流。Among them, i xa and ixc are a pair of current reference instructions for the x degree of freedom, i ya and i yc are a pair of current reference instructions for the y degree of freedom, i x is the current output instruction of the position controller in the x degree of freedom, i y is the current output instruction of the position controller in the y degree of freedom, and i 0 is the bias current of each coil.
步骤S300：将位置控制器中加入扰动控制算法，验证所述控制算法对扰动的抑制效果。Step S300: adding a disturbance control algorithm to the position controller to verify the disturbance suppression effect of the control algorithm.
在一具体的实施例中，可以将原始的PID控制算法切换至优化后的自抗扰(ADRC)控制算法，并验证扰动抑制效果，分析转子位置是否满足控制要求，若是，则说明该扰动控制算法可行，若不是，则说明该扰动控制算法不可行。In a specific embodiment, the original PID control algorithm can be switched to an optimized active disturbance rejection (ADRC) control algorithm, and the disturbance suppression effect can be verified to analyze whether the rotor position meets the control requirements. If so, it means that the disturbance control algorithm is feasible, and if not, it means that the disturbance control algorithm is not feasible.
如图4是本申请一实施例中磁悬浮轴承系统的扰动抑制效果的仿真结果，其中x1、y1、x2、y2分别表示两个径向磁轴承中四个不同自由度的转子位移，加入抗扰动算法后，x1、y1、x2、y2四个不同自由度的转子扰动得到明显抑制。As shown in FIG4 , the simulation result of the disturbance suppression effect of the magnetic bearing system in an embodiment of the present application is shown, wherein x 1 , y 1 , x 2 , and y 2 respectively represent the rotor displacements of four different degrees of freedom in two radial magnetic bearings. After adding the anti-disturbance algorithm, the rotor disturbances of the four different degrees of freedom of x 1 , y 1 , x 2 , and y 2 are significantly suppressed.
本申请实施例提供的磁悬浮轴承系统的扰动抑制效果检测方法及装置，在磁轴承发生扰动时记录其转子所受到的扰动力，用该扰动力计算得到所需注入的谐波电流。然后在磁轴承静态悬浮的基础上通过在其自身线圈中注入该谐波电流去模拟真实扰动，进而可以施加先进的扰动抑制算法去抑制上述模拟出的扰动以使得转子位置满足控制要求。由于整个模拟扰动的过程与扰动抑制算法的验证是在磁轴承静态悬浮条件下完成的，降低了高转速下扰动抑制算法失效所带来的实验风险。The disturbance suppression effect detection method and device of the magnetic bearing system provided in the embodiment of the present application records the disturbance force exerted on the rotor when the magnetic bearing is disturbed, and uses the disturbance force to calculate the harmonic current required to be injected. Then, on the basis of the static suspension of the magnetic bearing, the real disturbance is simulated by injecting the harmonic current into its own coil, and then an advanced disturbance suppression algorithm can be applied to suppress the simulated disturbance so that the rotor position meets the control requirements. Since the entire disturbance simulation process and the verification of the disturbance suppression algorithm are completed under the condition of static suspension of the magnetic bearing, the experimental risk caused by the failure of the disturbance suppression algorithm at high speed is reduced.
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210155891.2A CN114564824B (en) | 2022-02-21 | 2022-02-21 | Disturbance suppression effect detection method and device for magnetic suspension bearing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210155891.2A CN114564824B (en) | 2022-02-21 | 2022-02-21 | Disturbance suppression effect detection method and device for magnetic suspension bearing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114564824A CN114564824A (en) | 2022-05-31 |
| CN114564824B true CN114564824B (en) | 2024-07-05 |
Family
ID=81713133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210155891.2A Active CN114564824B (en) | 2022-02-21 | 2022-02-21 | Disturbance suppression effect detection method and device for magnetic suspension bearing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114564824B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107612427A (en) * | 2017-09-18 | 2018-01-19 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic suspension system and its current response rate detection method and device |
| CN112096737A (en) * | 2020-09-16 | 2020-12-18 | 华中科技大学 | A control method and control system of a magnetic suspension bearing-rotor device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7093683B2 (en) * | 2018-06-15 | 2022-06-30 | 川崎重工業株式会社 | Magnetic bearing control device and magnetic bearing control method |
-
2022
- 2022-02-21 CN CN202210155891.2A patent/CN114564824B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107612427A (en) * | 2017-09-18 | 2018-01-19 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic suspension system and its current response rate detection method and device |
| CN112096737A (en) * | 2020-09-16 | 2020-12-18 | 华中科技大学 | A control method and control system of a magnetic suspension bearing-rotor device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114564824A (en) | 2022-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106547957B (en) | A parametric elastic vibration analysis method for rotating annular periodic structures | |
| Zheng et al. | Feedforward compensation control of rotor imbalance for high-speed magnetically suspended centrifugal compressors using a novel adaptive notch filter | |
| Sun et al. | Filter cross-feedback control for nutation mode of asymmetric rotors with gyroscopic effects | |
| Han et al. | Design aspects of a large scale turbomolecular pump with active magnetic bearings | |
| Han et al. | Surge disturbance suppression of AMB-rotor systems in magnetically suspension centrifugal compressors | |
| CN110145541B (en) | A phase-stabilized magnetic bearing rotor unbalanced motion control method | |
| Chen et al. | Experimental validation of a current-controlled three-pole magnetic rotor-bearing system | |
| Lusty et al. | Active vibration control of a flexible rotor by flexibly mounted internal-stator magnetic actuators | |
| CN104333289A (en) | Imporved ACTIVE MAGNETIC BEARINGS CONTROL SYSTEM | |
| Zheng et al. | Rotor balancing for magnetically levitated TMPs integrated with vibration self-sensing of magnetic bearings | |
| CN104792482A (en) | Accurate magnetic levitation bearing dynamic stiffness testing method | |
| Zhang et al. | Surge detection approach for magnetically suspended centrifugal compressors using adaptive frequency estimator | |
| CN113067523B (en) | Magnetic suspension motor vibration suppression method based on angular domain notch filtering | |
| CN114564824B (en) | Disturbance suppression effect detection method and device for magnetic suspension bearing system | |
| CN112162574B (en) | Magnetic suspension bearing rotor vibration control method, device, equipment and storage medium | |
| Hubmann et al. | Novel acoustic failure prediction method for active magnetic bearing systems | |
| Wei et al. | A simplified analysis method and suppression of the modalities of a magnetic levitation turbo rotor system | |
| Wang et al. | Suppression of gyroscopic torque disturbance in high speed magnetically levitated rigid rotor systems based on extended state observer | |
| Muszynska et al. | Rotor active “anti-swirl” control | |
| Gouws | Impact of frequency switching on the efficiency of a fully suspended active magnetic bearing system | |
| Freire Wu et al. | Experimental validation and comparison between different active control methods applied to a journal bearing supported rotor | |
| CN107104618A (en) | A kind of control method and system of magnetic suspension motor rotor | |
| CN117404389A (en) | Magnetic suspension radial bearing magnetic force parameter online identification method | |
| Hutterer et al. | Selfsensing unbalance rejection and reduction of the gyroscopic effect for an active magnetic bearing system | |
| CN116677654A (en) | Surging interference suppression method for magnetic suspension centrifugal compressor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20250123 Address after: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee after: HUAZHONG University OF SCIENCE AND TECHNOLOGY Country or region after: China Patentee after: Hubei Shunyi Technology Co.,Ltd. Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee before: HUAZHONG University OF SCIENCE AND TECHNOLOGY Country or region before: China Patentee before: Dongguan Huagong Energy Technology Co.,Ltd. |